RETRACTED: Graphic and haptic simulation for transvaginal cholecystectomy training in NOTES

The design of any physical product involves prototyping. Building physical prototypes of the products can be expensive and time consuming. An alternate to physical prototyping is haptic virtual prototyping, which simulates the product using a computer and a haptic device. A haptic device is one that produces the forces similar to that of the product, giving the user a realistic feel of the product. Since the feel of a product plays a significant role in its commercial success, the importance of haptic virtual prototyping as a design tool is increasing. This paper discusses the haptic simulation of a push button on a low cost and commercially available haptic device called Novint Falcon. Two different models were created – the first one was a simple push button, and the second was an on/off click button. The parameters of the two models were selected such that they have the most accurate tactile response or feel of the product. The two models successfully simulated the feel of the buttons, and it was found that haptic virtual prototyping of buttons is achievable using a low cost haptic interaction system.

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Experimental Identification and Analysis of the Dynamics of a PHANToM Premium 1.5A Haptic Device

Presence Teleoperators & Virtual Environments ◽

10.1162/pres.17.4.327 ◽

2008 ◽

Vol 17 (4) ◽

pp. 327-343 ◽

Cited By ~ 16

Author(s):

Babak Taati ◽

Amir M. Tahmasebi ◽

Keyvan Hashtrudi-Zaad

Keyword(s):

Inverse Dynamics ◽

Viscous Friction ◽

Force Sensor ◽

Friction Model ◽

Haptic Device ◽

Gravity Compensation ◽

Force Estimation ◽

Experimental Identification ◽

Hand Force ◽

Haptic Simulation

The dynamics of a PHANToM Premium 1.5A haptic device from SensAble Technologies, Inc. is experimentally identified and analyzed for different installations of the device and its accessories, such as the typical upright, upside down, with gimbal and counterbalance weight, and with force sensor.1 An earlier formulation of the robot dynamic model is augmented with a friction model, linearly parameterized, and experimentally identified using least squares. The identified dynamics are experimentally evaluated with an inverse dynamics controller and verified by comparing user hand force estimates with the measured values. The contribution of different dynamic terms such as inertial, Coriolis and centrifugal, gravitational, and Coulomb and viscous friction are demonstrated and discussed. The identified model can be used for a variety of haptic applications, such as hand force estimation, accurate active gravity compensation and counterbalance weight determination for various installation conditions, and model-based control for haptic simulation and teleoperation.

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Haptic simulation of linear elastic media with fluid pockets

12th International Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems, 2004. HAPTICS '04. Proceedings. ◽

10.1109/haptic.2004.1287205 ◽

2004 ◽

Cited By ~ 2

Author(s):

A.H. Gosline ◽

S.E. Salcudean ◽

J. Yan

Keyword(s):

Elastic Media ◽

Linear Elastic ◽

Haptic Simulation

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A Physically Realistic Voxel-Based Method for Haptic Simulation of Bone Machining

Haptics: Perception, Devices and Scenarios - Lecture Notes in Computer Science ◽

10.1007/978-3-540-69057-3_82 ◽

2008 ◽

pp. 651-660 ◽

Cited By ~ 3

Author(s):

Majid Moghaddam ◽

Ali Nahvi ◽

Mohamadreza Arbabtafti ◽

Mohsen Mahvash

Keyword(s):

Haptic Simulation

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Haptic-Based Virtual Reality Dental Simulator as an Educational Tool

Gaming and Simulations ◽

10.4018/978-1-60960-195-9.ch309 ◽

2011 ◽

pp. 724-735

Author(s):

Maxim Kolesnikov ◽

Arnold D. Steinberg ◽

Miloš Žefran

Keyword(s):

Virtual Reality ◽

Clinical Skills ◽

Educational Tool ◽

University Of Illinois ◽

Training Techniques ◽

Instructor Interaction ◽

Haptic Simulation ◽

The University ◽

Practice Time ◽

Student Instructor

This chapter describes the haptic dental simulator developed at the University of Illinois at Chicago. It explores its use and advantages as an educational tool in dentistry and examines the structure of the simulator, its hardware and software components, the simulator’s functionality, reality assessment, and the users’ experiences with this technology. The authors hope that the dental haptic simulation program should provide significant benefits over traditional dental training techniques. It should facilitate students’ development of necessary tactile skills, provide unlimited practice time and require less student/instructor interaction while helping students learn basic clinical skills more quickly and effectively.

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